Pallet sensing device, forklift, pallet sensing method, and program

A technology of sensing device and pallet sense, which is applied in the direction of measuring device, hoisting device, lifting equipment safety device, etc., can solve the problem of 3D-LiDAR being expensive

Active Publication Date: 2022-03-01
MITSUBISHI LOGISNEXT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] 3D-LiDAR is very expensive, so there is a cost problem when it is mounted on a forklift

Method used

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  • Pallet sensing device, forklift, pallet sensing method, and program
  • Pallet sensing device, forklift, pallet sensing method, and program
  • Pallet sensing device, forklift, pallet sensing method, and program

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Embodiment Construction

[0080] Hereinafter, several embodiments will be described with reference to the attached drawings. However, dimensions, materials, shapes, relative arrangements, and the like of components described as embodiments or shown in the drawings are not intended to limit the scope of the invention, but are merely illustrative examples.

[0081] Expressions such as "in a certain direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric" or "coaxial", etc., which indicate relative or absolute configurations, not only strictly express such The configuration of the term also means a state of relative displacement in terms of angles and distances with a tolerance or the degree to which the same function can be obtained.

[0082] Expressions such as "same", "equal" and "homogeneous" that indicate the state of things being equal not only strictly represent the state of equality, but also represent the state of difference in the degree to which there is a toler...

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PUM

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Abstract

Provided is a pallet sensing device or the like which can accurately extract a straight line corresponding to the front surface of a pallet without moving a two-dimensional distance measuring device in the vertical direction, and can sense the position and posture of the pallet in a short time. The pallet sensing device is provided with: a point group acquisition unit configured so as to acquire point group data in which point groups measured by the two-dimensional distance measurement device are represented on a depth map; a straight line detection unit configured to detect a straight line corresponding to the front surface of the pallet on the basis of a point group in a region deduced to include the front surface of the pallet in the point group data; a line segment detection unit configured to detect a line segment indicating a front surface of the pallet on the basis of the straight line; and a position and posture acquisition unit configured to acquire the position and posture of the pallet on the basis of the line segment. The straight line detection unit acquires one or more straight line candidates as candidates for straight lines corresponding to the front of the pallet, and assigns, to each of the one or more straight line candidates, a score having a lower priority than a constant of other point groups when selected to a point group on the front side that is a predetermined distance or more from the straight line candidate. A straight line corresponding to the front of the pallet is selected from among the one or more straight line candidates on the basis of a score accumulation value obtained by accumulating scores for the point groups in the region deduced to include the front of the pallet.

Description

technical field [0001] The present disclosure relates to a pallet sensing device, a forklift, a pallet sensing method and a program. Background technique [0002] A forklift that inserts a fork into a hole in a pallet to transport loads is widespread. An unmanned forklift (AGF: Automated Guided Forklift) is also being developed. [0003] When the pallet is placed at a predetermined position and posture (rotation angle when viewed from above), the AGF can insert the forks into the holes of the pallet according to the approach path. However, although the actual pallet is placed so as to be accommodated in a predetermined area (slot), the position and posture in the slot vary every time it is placed. Therefore, in the AGF in which the forks are inserted only along the approach path, sometimes the forks cannot be inserted into the holes of the pallet. [0004] In order to solve such a problem, a method for sensing the position and posture of the pallet has been proposed. For...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66F9/075
CPCB66F9/0755G01S17/08G01S17/42G01S17/88B66F9/063B66F9/24B66F17/003G01S17/931G01S17/89G05D1/0242
Inventor 高尾健司藤田匠北岛克将木內裕介
Owner MITSUBISHI LOGISNEXT CO LTD
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